KR20180023959A - Unmanned Terrain Simulation Flight Method, Device and UAV - Google Patents

Abstract

An embodiment of the present invention relates to a UAV simulated flight method, apparatus and UAV, the method comprising: acquiring a vertical distance between the UAV and the ground; acquiring an inclination distance between the UAV and the ground; Acquiring a narrow angle between the distance and the slope distance; and adjusting the state in which the unmanned aerial vehicle is flying to the terrain simulation based on the narrow angle, the vertical distance and the slope distance. In the application of the UAV of the embodiment of the present invention, when the inclination distances from the ground are different, the UAV can be controlled by different flying operations to realize the terrain simulated flight in various environments such as mountains, hills, terraced rice fields, plains, And can improve the working efficiency of the UAV and the adaptability of the UAV, as well as improve the reliability and safety of the UAV.

Description

Unmanned Terrain Simulation Flight Method, Device and UAV

Field of the Invention The present invention relates to a UAV, and more particularly, to a UAV (Terrain Simulation Flying) method, a UAV-based simulated flight device, and a UAV.

Unmanned aerial vehicles are also called unmanned aerial vehicles, which can complete tasks such as aerial shooting or investigation. In terms of agricultural plant protection, UAV has a great advantage over other agricultural equipment and is widely used recently. However, in practical applications, there are some problems that need to be resolved quickly.

In the case of pesticide spraying, the spraying effect is determined by the distance between the UAV and the plant, and when the UAV falls too far from the plant, the sprayed drug is not uniformly sprayed on the plant surface. If the distance between the UAV and the plant is too low, the efficiency of the UAV will be affected. In terms of safety, the flight safety factor is low if the distance between the UAV and the plant is too low. Therefore, in order to improve the spraying effectiveness of the pesticide on the UAV and the efficiency of the UAV, and to improve the flight safety of the UAV, the UAV must maintain a certain distance from the plant during the work process.

An embodiment of the present invention provides a unmanned terrain simulation flight device and a UAV that correspond to the UAV method which can solve the above problem or solve at least part of the problems proposed in view of the above problems.

In order to solve the above problem, embodiments of the present invention

Obtaining a vertical distance between the UAV and the ground,

Obtaining an inclination distance between the UAV and the ground,

Obtaining a narrow angle between the vertical distance and the slope distance;

And controlling the state in which the UAV is flying in the terrain simulation based on the narrow angle, the vertical distance and the slope distance.

Adjusting the state in which the UAV is flying to the terrain simulation based on the narrow angle, the vertical distance and the slope distance,

Calculating one or more judgment data by using the narrow angle and the vertical distance,

Configuring one or more decision data ranges with the one or more decision data;

And adjusting the state in which the UAV is flying to the terrain simulation based on the judgment data range to which the slope distance belongs.

Wherein the determination data range includes a first determination data range and the step of controlling the state in which the UAV is flying to the terrain simulation based on the determination data range to which the inclination distance belongs,

Maintaining the speed at which the UAV is flying with the terrain simulation if the slope distance falls within the first determination data range and adjusting the height at which the UAV is flying in the terrain simulation according to the vertical distance.

Wherein the determination data range includes a second determination data range and the step of adjusting the state in which the UAV is flying to the terrain simulation based on the determination data range to which the tilt distance belongs,

Lowering the speed at which the UAV is flying to the terrain simulation and raising the height at which the UAV is flying to the terrain simulation if the tilting distance within the first designated time is continuously within the second determination data range,

When the inclination distance within the second designation time shorter than the first designation time falls within the second determination data range after belonging to the second determination data range and is switched to belong to the first determination data range, And controlling the elevation of the UAV so as to fly into the terrain simulation according to the vertical distance.

Wherein the determination data range includes a third determination data range and the step of adjusting the state in which the UAV is flying to the terrain simulation based on the determination data range to which the tilt distance belongs,

Stopping the UAV when the inclination distance falls within the third determination data range and raising the height of the UAV during the terrain simulation;

When the inclination distance is switched from belonging to the third judgment data range to belonging to the second judgment data range, the UAV is restored to the speed of flying to the terrain simulation, and the height of the UAV traveling to the terrain simulation And a step of controlling.

Wherein the determination data range includes a fourth determination data range and the step of adjusting the state in which the UAV is flying to the terrain simulation based on the determination data range to which the tilt distance belongs,

Lowering the speed at which the UAV is flying with the terrain simulation and lowering the height at which the UAV is flying with the terrain simulation if the tilting distance within the third designated time continues to fall within the fourth determination data range;

If the inclination distance in the fourth designation time shorter than the third designation time is within the fourth determination data range after belonging to the fourth determination data range and is switched to belong to the first determination data range, And controlling the elevation of the UAV so as to fly into the terrain simulation according to the vertical distance.

Wherein the determination data range includes a fifth determination data range and the step of controlling the state in which the UAV is flying to the terrain simulation based on the determination data range to which the inclination distance belongs,

And stopping the UAV when the inclination distance falls within the fifth determination data range or returning the UAV by controlling the UAV.

According to an embodiment of the present invention,

A vertical distance obtaining means configured to obtain a vertical distance between the UAV and the ground,

An inclination distance acquiring means configured to acquire an inclination distance between the UAV and the ground;

Narrow angle acquisition means configured to acquire a narrow angle between the vertical distance and the tilt distance;

And a flight condition adjusting means configured to adjust a state in which the UAV is flying in a terrain simulation based on the narrow angle, the vertical distance and the slope distance.

Wherein said flight condition adjusting means comprises:

A judgment data calculation sub-unit configured to calculate one or a plurality of judgment data by using the narrow angle and the vertical distance,

Determination data range configuration sub-means configured to configure one or a plurality of determination data ranges with the one or more determination data;

And a flight state control sub-means configured to adjust a state in which the UAV is flying to the terrain simulation based on a judgment data range to which the slope distance belongs.

Wherein the determination data range includes a first determination data range, and the flight state control sub-

A first flight condition adjusting unit configured to maintain the speed at which the UAV is flying with the terrain simulation if the tilt distance falls within the first determination data range and to control the height at which the UAV will fly into the terrain simulation according to the vertical distance; .

Wherein the determination data range includes a second determination data range, and the flight state control sub-

A second flight condition adjusting unit configured to lower the speed at which the UAV is allowed to fly to the terrain simulation and increase the height of the UAV when the terrain distance is within the second determination data range within the first designated time, ,

When the inclination distance within the second designation time shorter than the first designation time falls within the second determination data range after belonging to the second determination data range and is switched to belong to the first determination data range, And a third flight condition adjustment unit configured to maintain the height at which the UAV is flying to the terrain simulation.

Wherein the determination data range includes a third determination data range,

A fourth flight condition adjusting unit configured to stop the UAV when the inclination distance falls within a third determination data range and increase the height of the UAV during the terrain simulation;

When the inclination distance is switched from belonging to the third judgment data range to belonging to the second judgment data range, the UAV is restored to the speed of flying to the terrain simulation, and the height of the UAV traveling to the terrain simulation And a fifth flight condition adjusting unit configured to control the first and second flight condition adjusting units.

Wherein the determination data range includes a fourth determination data range, and the flight state control sub-

A sixth flight state control unit configured to lower the speed at which the UAV is flying to the terrain simulation and to lower the height of the UAV during the terrain simulation if the tilting distance in the third designated time is continuously within the fourth determination data range; ,

If the inclination distance in the fourth designation time shorter than the third designation time is within the fourth determination data range after belonging to the fourth determination data range and is switched to belong to the first determination data range, And a seventh flight condition adjusting unit configured to adjust a height of the UAV so as to fly in the terrain simulation according to the vertical distance.

Wherein the judgment data range includes a fifth judgment data range,

And an eighth flight state control unit configured to stop the UAV when the inclination distance falls within the fifth determination data range or return to the UAV by controlling the UAV.

According to an embodiment of the present invention there is provided an apparatus for measuring a vertical distance between a UAV and a ground, comprising at least one vertically lowered vertical distance sensor configured to measure a vertical distance between the UAV and the ground and at least one slopingly downward slope A distance sensor, and a UAV that includes the unmanned terrain simulation flight device.

According to embodiments of the present invention, there are the following advantages:

According to the embodiment of the present invention, when the UAV is flying in the terrain simulation, the vertical distance and the slope distance between the UAV and the ground are obtained, and then, based on the vertical distance, the slope distance, and the narrow angle between the vertical distance and the slope distance, If the UAV of the embodiment of the present invention is applied, it is possible to realize different flight operations by controlling the UAV when the UAV of the embodiment of the present invention is adjusted by controlling the flying state by simulating the UAV. When the UAV is located in the mountain, hill, It is possible to realize the terrain simulated flight in various environments such as high plants, improve the working efficiency of the UAV and improve the adaptability of the UAV, as well as improve the reliability and safety of the UAV. The embodiment of the present invention can be applied to a UAV, such as a plant protection UAV, which must maintain a certain height from the ground and adapt to various environments and complete the work.

1 is a flow chart illustrating the steps of the first embodiment of the UAV simulation flight method of the present invention.
Figure 2 is a schematic diagram showing the UAV of the present invention flying in a terrain simulation.
3 is a flow chart illustrating the steps of the second embodiment of the UAV simulation flight method of the present invention.
4 is a schematic diagram showing that the UAV in Situation 2 of the present invention is flying with a terrain simulation.
Figure 5 is a schematic diagram showing the UAV in Situation 3 of the present invention flying with a terrain simulation.
Figure 6 is a schematic diagram showing the UAV in Situation 4 of the present invention flying into a terrain simulation.
Figure 7 is a schematic diagram showing the UAV in Situation 5 of the present invention flying in a terrain simulation.
FIG. 8 is a block diagram showing the structure of an embodiment of the UAV-based simulated flight device of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG.

The UAV in the embodiment of the present invention can fly independently by the terrain simulation, thereby improving the operation efficiency and effect of the UAV during operation and improving the work safety rate. Geomorphic simulation flight means that the height of flight work of UAV varies according to the undulation change of the ground and UAV maintains fixed height with the ground all the time.

In the case of a plant protection UAV, for example, a conventional method of operating a plant protection UAV can be classified into a GPS (Global Positioning System) constant altitude flight or an artificial manual constant height flight or, for example, a laser sensor, A simple topographical simulation flight is performed using one vertically descending sensor such as However, all of these methods are applied only to relatively flat terrain, and are difficult to apply to hilly areas, mountainous areas, terraced rice fields, or high-stemmed plants, and are complicated environments in which hilly areas, mountainous terrain, terraced rice fields, Is more difficult.

Specifically, the GPS schedule height flight is performed at a fixed elevation and the UAV can not work with the terrain simulation according to the undulation of the ground, which lowers the work effect. In the case of artificial flight, it is affected by visibility and work efficiency is low and it is difficult to apply it to a large scale. The method of flying from a fixed height to a terrain simulation using only one sensor is applied only to a simple terrain simulated flight and its adaptability is low because it can not predict the change of ground terrain.

With respect to the above problem, in the embodiment of the present invention, it is possible to solve problems such as low flying effect, low operation efficiency, low adaptability, etc. of the UAV by terrain simulation, and the UAV can independently control the mountains, hills, The present invention provides a UAV simulation flight method and apparatus capable of performing terrain simulated flight adaptation to environments such as high-stemmed plants, improving UAV operation effect, work efficiency and adaptability, and improving safety of UAV.

However, the embodiment of the present invention can be applied to other flight devices other than UAV. Hereinafter, embodiments of the present invention will be described in detail.

Example 1

Referring to FIG. 1, there is shown a flow chart illustrating the steps of Embodiment 1 of the unmanned terrain simulation flight method of the present invention, specifically including steps 101 to 104.

In step 101, the vertical distance between the UAV and the ground is obtained.

In step 102, an oblique distance between the UAV and the ground is obtained.

In step 103, a narrow angle between the vertical distance and the slope distance is obtained.

In the UAV of the embodiment of the present invention, the distance sensor can be mounted and the distance sensor can measure the distance between the UAV and the ground. Specifically, the distance between the UAV and the ground and the distance between the UAV and the ground can be obtained through the distance sensor.

In one embodiment of the present application, the UAV may be equipped with at least one vertical descending vertical distance sensor and at least one inclined descending slope distance sensor,

Here, the vertical distance sensor acquires a vertical distance between the UAV and the ground, and the inclination distance sensor acquires an inclination distance between the UAV and the ground.

It is usually enough to mount one vertical distance sensor (vertical distance sensor) vertically down to the UAV, but it can be mounted several times. The inclined distance sensor (inclination distance sensor) is usually mounted several times and only one can be installed.

However, if the oblique distance sensor acquires only the oblique distance in the direction of the UAV, it is enough to control the state where the UAV is flying with the terrain simulation so that the UAV can adapt to various environments and perform the terrain simulation flight, Only the inclination distance of the inclination distance sensor in the forward direction is required. However, in practical applications, the tilt range sensor may be used to control the state of the unmanned aerial to the terrain simulation by acquiring the tilting distances of other orientations other than the direction of the unmanned aerial direction, and it is not necessary to limit this in the embodiment of the present invention.

It is said that the oblique distance sensor is installed in each of the four directions of the front, rear, left and right of the UAV head with respect to the head of the UAV. There are two ways to obtain the slope distance:

Only one realization method, the inclination distance sensor only works. Specifically, if the UAV moves forward in the heading direction during the flight of the UAV, the oblique distance of the oblique distance sensor in front of the UAV must be obtained, and other oblique distance sensors may not be operated. If the advancing direction of the UAV is changed, for example, if the head is moved to the left of the head, the inclination distance of the inclination distance sensor on the left side of the UAV must be obtained, and the other inclination distance sensor may not be operated.

In another implementation, several oblique distance sensors operate simultaneously. Specifically, the oblique distance of several oblique distance sensors is obtained in the course of the UAV's flight to the terrain simulation. Even if the direction of advance of the UAV is changed, the inclination distance of several inclination distance sensors is obtained.

The inclined distance sensors are mounted in the four directions of the front, rear, left, and right sides of the UAV, and the inclination distance sensors can be mounted in other directions in the embodiment of the present application. For example, The oblique distance sensors may be mounted in the left front, right front, left rear, right rear, and the like of the vehicle, and it is not limited in the embodiment of the present invention so that less than four oblique distance sensors can be mounted in practical applications More than four may be installed and may be installed according to actual demand, but the present invention is not limited thereto.

Here, the narrow angle between the vertical distance and the inclination distance means a narrow angle with which the distance sensor mounting narrow angle, i.e., the vertical and the inclined distance distance sensors are mounted. Since the position of the distance sensor in the UAV can be fixed, the narrow angle between the distance sensors can be stored in advance and extracted when necessary, and the narrow angle between the vertical distance and the tilt distance can be obtained in real time. It is not limited thereto.

As shown in FIG. 2, the distance sensor a in the middle is a vertically descending distance sensor that can acquire the vertical height H ₁ of the UAV and the ground, and the distance sensor b is a sloping UAV traveling distance sensor in the UAV You can obtain the photo slope distance H ₂ . The narrow angle between the distance sensor a and the distance sensor b is θ.

Specifically, the distance sensor a measures the height of the UAV by the UAV with the UAV, and the UAV controller obtains the height of the distance sensor a from the ground of the UAV, And the distance sensor b measures the distance that the UAV is inclined to the ground by the UAV prediction decision sensor.

However, the distance sensor in the embodiment of the present invention is not limited to a specific sensor, and the method of acquiring the distance is not limited, and a device, an irradiation method or a method capable of acquiring the distance between the UAV and the ground is all Are within the scope of protection of the embodiment.

In step 104, the unmanned aerial vehicle controls the flying state of the terrain simulation based on the narrow angle, the vertical distance and the tilt distance.

According to the embodiment of the present invention, compared to a conventional unmanned aerial flight system in which a UAV is controlled by a terrain simulation based on a narrow angle, a vertical distance and an inclination distance, According to the above, it is possible to realize a terrain simulation flight in various environments and improve the efficiency and reliability of the UAV.

According to the embodiment of the present invention, in the process of flying the UAV to the terrain simulator, the vertical distance and the slope distance of the UAV and the ground are obtained, and then, based on the vertical distance, the slope distance and the narrow angle between the vertical distance and the slope distance, In the case of applying the UAV of the embodiment of the present invention, the UAV can be controlled by controlling the UAV when the inclination distance is different from that of the ground. Thus, the UAV can be used for the mountain, hill, terraced field, It is possible to realize the terrain simulated flight in various environments such as high plants, and it can improve the working efficiency of the UAV and the adaptability of the UAV, as well as improve the reliability and safety of the UAV. The embodiment of the present invention can be applied to a UAV, such as a plant protection UAV, which must maintain a certain height from the ground and adapt to various environments and complete the work.

Referring to FIG. 3, there is shown a flow diagram illustrating the steps of the second embodiment of the UAV simulation flight method of the present invention, specifically including steps 201-206.

In step 201, the vertical distance between the UAV and the ground is obtained.

In step 202, an oblique distance between the UAV and the ground is obtained.

In step 203, a narrow angle between the vertical distance and the inclination distance is obtained.

Method Since the concrete implementation method of step 201 to step 203 in the embodiment 2 corresponds to the concrete embodiment of the above-mentioned method embodiment 1, steps 201 to 203 in this embodiment are not described in detail, The detailed description will be omitted here.

In the concrete realization process, the UAV achieves a terrain simulated flight because when the ground rises, the UAV rises along the ground, and when the ground goes down, the UAV descends along the ground, ie the height between the UAV and the ground is fixed The flight speed of the talking and UAV may or may not be fixed, where the fixed value is user adjustable. In the embodiment of the present invention, the horizontal flight speed of the UAV can be set according to actual demand without being limited, and all belong to the protection scope of the present invention.

In some situations, such as creeks, small intervals between successive plants, the UAV must independently determine whether it should change in response to a change in topography. If the height of the UAV is adjusted according to the change of the terrain without judging in advance, the operation efficiency is low, and sometimes the UAV may be damaged, which lowers the safety of the UAV.

Therefore, in the embodiment of the present invention, the vertical distance, the slope distance, and the narrow angle between the vertical distance and the slope distance are integrated to control the flying state of the UAV to the terrain simulation. However, the narrow angle is generally related to the flight height and speed, and the flight height and speed during normal agricultural work are all within a certain range, so that the narrow angle is also within a certain range. This is because if the oblique angle is too large, the oblique direction sensor changes in the horizontal direction and if the oblique angle is too small, the oblique direction sensor changes in the vertical direction. Therefore, the coarse angle is usually a fixed value and can be obtained directly without having to measure it in use.

However, the angle is usually fixed but not fixed, and may be dynamically adjusted according to the flight environment. For example, if the topography is flat, increasing the narrowing angle increases the prediction distance, and if the topography is harsh, reducing the narrowing angle can more accurately determine the grounding condition. If the road is uneven, it is the same principle as turning on the head light for the vehicle and turning on the head light if the road situation is complicated.

The coarse angle of the embodiment of the present application may or may not be fixed, and in the practice of the present application, a coarse angle may be set according to the actual situation, and in the embodiment of the present application, .

In a preferred embodiment, the process of determining whether the UAV has to change according to the change in the terrain includes steps 204 to 206 in detail.

In step 204, one or more pieces of judgment data are obtained by calculating using the narrow angle and the vertical distance.

In an embodiment of the present invention, first, one or a plurality of judgment data is calculated based on the narrowing angle and the vertical distance between the vertical distance and the slope distance.

In step 205, one or a plurality of judgment data ranges constitute one or a plurality of judgment data ranges.

In the embodiment of the present invention, one or a plurality of judgment data ranges are formed according to a certain rule on the basis of one or a plurality of judgment data obtained by calculation, and the judgment is made to control the UAV.

Specifically, the judgment data range is

;The first judgment data range:

;

;The second determination data range:

;

;The third judgment data range:

;

;The fourth judgment data range:

;

를 포함할 수 있다. The fifth judgment data range:

. ≪ / RTI >

Here, H ₁ denotes a vertical distance, H ₂ denotes an inclination distance, and θ denotes a narrow angle between a vertical distance and an inclination distance.

However, the above-described judgment data range is merely an example, and in carrying out the embodiment of the present invention, judgment data can be calculated according to the actual situation and the judgment data range can be adjusted, and the present invention is not limited thereto.

Further, it is possible to make a few judgment conditions by combining the above judgment conditions, and to subdivide some judgment conditions into many more conditions. It is possible to judge the addition depending on the actual situation, and in the embodiments of the present invention, I never do that.

In step 206, based on the judgment data range to which the slope distance belongs, the UAV adjusts the flying state to the terrain simulation.

According to the embodiment of the present invention, by controlling the flying state of the UAV by the terrain simulation based on the judgment data range to which the inclination distance belongs, the UAV can complete the flight in various environments and improve the working efficiency and reliability of the UAV have. Here, adjusting the flight status of the UAV may include controlling the flight height of the UAV, controlling the flight speed of the UAV, stopping the UAV in the air, controlling the UAV, and returning.

The flight speed and flight height of the UAV are constant during the flight of the UAV to the landform simulation. The UAV in the embodiment of the present invention performs the corresponding adjustment according to the terrain in the course of flying with the terrain simulation.

To better understand the embodiments of the present invention, those skilled in the art will appreciate the situation in which the UAV adjusts the flight to the terrain simulation based on a few decision data ranges as described above.

Situation 1:

If the slope distance falls within the first determination data range, the UAV maintains the speed at which the UAV flies to the terrain simulation and adjusts the elevation of the UAV to the terrain simulation according to the vertical distance.

That is, H2 satisfies formula (1):

(1)

(One)

, 즉, 지면 높이의 기복이 작음을 말하므로 이러한 상황에서, 무인기는 직접 거리 센서a가 측정한 H₁에 따라 지형 시뮬레이션 비행의 높이를 조절하고 무인기가 지형 시뮬레이션으로 비행하는 속도를 유지하며 기타 동작을 수행할 필요가 없다. If H2 satisfies formula (1), then the undulation range of the ground is

In this situation, the UAV adjusts the height of the terrain simulation flight according to the H ₁ measured by the direct distance sensor a, maintains the speed at which the UAV is flying with the terrain simulation, You do not need to do this.

Situation 2:

When the slope distance in the first designation time is constantly in the second determination data range, the speed of the UAV is lowered to the terrain simulation and the height of the UAV is increased by the terrain simulation.

When the inclination distance within the second designation time falls within the second determination data range and then falls within the first determination data range, the UAV maintains a speed to fly into the terrain simulation, According to the distance, the height of the UAV is controlled by the terrain simulation. The second designation time is shorter than the first designation time.

That is, H2 satisfies formula (2) or formula (1):

(2)

(2)

Situation 2 can be subdivided into two as shown in Figs. 4- (a) and 4- (b).

One of them is that if H ₂ measured by the distance sensor b within the first designated time continuously satisfies the formula (2), it means that there is a large slope in the UAV advance direction as shown in FIG. 4- (a) On the side, the UAV has to lower the flight speed and control the UAV to go up the slope. The UAV goes up the slope, H ₂ meets the formula (1) You can also adjust the terrain simulation flight height based on the measured H ₁ .

미만임을 말하며, 이러한 상황에서, 무인기가 돌출물 상부까지 비행하였을 경우, 무인기는 상승할 필요가 없고 직접 그 돌출물을 무시하고 원래 높이와 속도로 비행을 계속할 수 있다. 4 also when the other conditions are the distance sensor b the first point in time within the H ₂ is short measurement time (second specified time) specifying only satisfied and first the formula (2) for a time, at the same time, equation (1) is also satisfied - As shown in (b), if there is a narrow protrusion on the ground and the height of the protrusion is

, And in this situation, when the UAV is flying to the top of the overhang, the UAV does not need to rise and can continue to fly at its original height and speed, ignoring the protrusion directly.

Situation 3:

If the inclination distance falls within the third determination data range, the UAV is stopped in the air and the height of the UAV is increased by the terrain simulation.

When the inclination distance is switched to belong to the second determination data range from belonging to the third determination data range, the UAV is restored to the speed of the flight to the terrain simulation, and according to the vertical distance, .

That is, H ₂ satisfies formulas (3) and (2):

(3)

(3)

When H ₂ satisfies the formula (3), it means that there is a very large slope or a vertical obstacle in the direction of advance of the UAV, and as shown in FIG. 5, a typical example is a stepped rice field or a hilly area. If the current flying height continues, the UAV may collide with the slope or the obstacle. In this case, the UAV stops suddenly and increases the height. If the height H ₂ measured by the distance sensor b satisfies the formula (2) In the case of FIG. 4, the UAV can continue to advance and work, at which time the speed of the original terrain simulation flight of the UAV can be restored and the elevation of the UAV can be controlled according to the H ₂ measured by the distance sensor b.

Situation 4:

If the tilting distance within the third designation time is continuously within the fourth determination data range, the UAV lowers the speed of the flight to the terrain simulation and the UAV lowers the height of the flight to the terrain simulation.

If the inclination distance in the fourth designation time does not fall within the fourth determination data range and is within the fourth determination data range and is switched to belong to the first determination data range, the speed of the unmanned vehicle to fly to the terrain simulation is maintained, According to the vertical distance, the height of the UAV is controlled by the terrain simulation. And the fourth designation time is shorter than the third designation time.

That is, H ₂ satisfies formulas (4) and (1):

(4)

(4)

At this time, it can be divided into two situations shown in 6- (a) and 6- (b):

A situation in which the distance sensor b the third point in time the measurement by H ₂ is the end that there is a large pool to the UAV forward direction as shown in Fig. 6-a if all the way satisfying the formula (1), so UAV is flying If the speed is lowered and the H ₂ measured by the UAV sensor satisfies the formula (1), it will be restored to its original speed and continue to work.

Another situation is that if the value of the distance sensor b satisfies the formula (1) after satisfying the formula (4) in a short time (fourth designation time) A puddle, for example a drainage or a plant with high stalks, is said to be a sparse area, so the UAV does not need to lower its height and directly ignores the puddle and continues to fly at its original speed. Depending on the H ₂ measured by the distance sensor b The UAV controls the height of the flight to the terrain simulation.

However, the first designation time and the third designation time may be set to be the same or different from each other. For example, the first designation time and the third designation time may be set to 10 seconds, 20 seconds, For example, 1 second, 2 seconds, and the like. The time may be set according to the actual situation, and is not limited to the embodiment of the present invention.

Situation 5:

If the inclination distance falls within the fifth determination data range, the UAV stops in the air or controls the UAV to return.

That is, H ₂ satisfies formula (5):

(5)

(5)

If H ₂ satisfies the formula (5), the direction of UAV advancement is large at the current position and height. As shown in FIG. 7, there is a large drop at the front and there is uncertainty. Or return.

However, the above-described situations in which the unmanned aerial vehicle manages to fly the terrain simulation based on the judgment data range to which the slope distance belongs are exemplary, and in practicing the embodiment of the present invention, have. For example, if it is determined that the work space can not completely satisfy a certain situation, it is possible to reduce the determination time of the UAV by omitting the judgment process of the UAV, and it is not limited to the embodiment of the present invention.

In the embodiment of the present invention, the height of the simulated flying height of the UAV is controlled by the vertically descending distance sensor a and the height of the UAV is predicted by the distance sensor b installed in the direction of one or more UAVs. The UAV can perform different operations, so that UAV can realize the terrain simulated flight even in various complex environments such as mountains, hills, terraced fields, and plains, improves operation efficiency of UAV, improves safety and reliability of UAV Can be improved.

It should be understood, however, that although the method embodiments have been described as a combination of a series of acts in order to simplify the description, some of the steps in the embodiments of the present invention may be performed in other orders or concurrently, It will be understood by those skilled in the art. And that those skilled in the art will appreciate that the embodiments described in the specification are preferred embodiments and that the operation thereof may not be necessary for the embodiments of the present invention.

Referring to FIG. 8, there is shown a block diagram illustrating a structure of an unmanned terrain simulation flight apparatus according to an embodiment of the present invention.

A vertical distance obtaining means (301) configured to obtain a vertical distance between the UAV and the ground,

An inclination distance acquiring means (302) configured to acquire an inclination distance between the UAV and the ground,

A narrow angle acquisition means (303) configured to acquire a narrow angle between the vertical distance and the tilt distance;

And a flight condition adjusting means (304) configured to adjust a state in which the UAV is flying to the terrain simulation based on the narrow angle, the vertical distance and the slope distance.

In a preferred embodiment of the present invention, the flight condition adjusting means (304)

A judgment data calculation sub-unit configured to calculate one or a plurality of judgment data by using the narrow angle and the vertical distance,

Determination data range configuration sub-means configured to configure one or a plurality of determination data ranges with the one or more determination data;

And a flight state control sub-unit configured to adjust a state in which the UAV is flying to the terrain simulation based on a judgment data range to which the slope distance belongs.

In a preferred embodiment of the present invention, the determination data range includes a first determination data range, and the flight state control sub-

A first flight condition adjusting unit configured to maintain the speed at which the UAV is flying with the terrain simulation if the tilt distance falls within the first determination data range and to control the height at which the UAV will fly into the terrain simulation according to the vertical distance; .

In a preferred embodiment of the present invention, the determination data range includes a second determination data range, and the flight state control sub-

A second flight condition adjusting unit configured to lower the speed at which the UAV is allowed to fly to the terrain simulation and increase the height of the UAV when the terrain distance is within the second determination data range within the first designated time, ,

When the inclination distance within the second designation time falls within the second determination data range and then falls within the first determination data range, the UAV maintains a speed to fly into the terrain simulation, And a third flight condition adjusting unit configured to control a height of the UAV in accordance with the distance to the terrain simulation.

In a preferred embodiment of the present invention, the determination data range includes a third determination data range, and the flight state control sub-

A fourth flight condition adjusting unit configured to stop the UAV when the inclination distance falls within a third determination data range and increase the height of the UAV during the terrain simulation;

When the inclination distance is switched from belonging to the third judgment data range to belonging to the second judgment data range, the UAV is restored to the speed of flying to the terrain simulation, and the height of the UAV traveling to the terrain simulation And a fifth flight state control unit configured to control the first and second flight state control units.

In a preferred embodiment of the present invention, the determination data range includes a fourth determination data range, and the flight state control sub-

A sixth flight state control unit configured to lower the speed at which the UAV is flying to the terrain simulation and to lower the height of the UAV during the terrain simulation if the tilting distance in the third designated time is continuously within the fourth determination data range; ,

When the inclination distance within the fourth designation time falls within the fourth determination data range and then falls within the first determination data range, the UAV maintains the speed of flight to the terrain simulation and the vertical And a seventh flight condition adjusting unit configured to control the height of the UAV according to the distance to the terrain simulation.

In a preferred embodiment of the present invention, the judgment data range includes a fifth judgment data range, and the flight state control sub-

And an eighth flight state control unit configured to stop the UAV when the inclination distance falls within a fifth determination data range or return to the UAV by controlling the UAV.

In a preferred embodiment of the present invention,

일 수 있고, The first judgment data range is

Lt; / RTI >

일 수 있으며,The second determination data range is

Lt; / RTI >

일 수 있고,The third judgment data range is

Lt; / RTI >

일 수 있으며, The fourth judgment data range is

Lt; / RTI >

일 수 있고, The fifth judgment data range is

Lt; / RTI >

Here, H ₁ is a vertical distance, H ₂ is an inclination distance, and θ is a narrow angle between a vertical distance and an inclination distance.

In the case of a device embodiment, similar to the method embodiment, so as to simplify the description, the relevant part can refer to the description of the method embodiment.

The UAV of the present invention includes at least one vertically lowered vertical distance sensor configured to measure a vertical distance between the UAV and the ground, at least one inclined lowered inclination distance sensor configured to measure an inclined distance between the UAV and the ground, And the vertical distance acquiring means 301 among the UAVs may acquire a vertical distance between the UAV and the ground from the vertical distance sensor and acquire the vertical distance between the UAV and the ground. The slope distance acquiring means 302 acquires an inclination distance between the UAV and the ground from the slope distance sensor.

In the embodiment of the present application, a storage medium is further provided. In the present embodiment, the storage medium may store the program codes performed by the unmanned terrain simulation flight method provided in the embodiment.

In the present embodiment, the storage medium may be installed in any one of the computer terminal groups in the computer network, or may be installed in the mobile terminal group.

In this embodiment, the storage medium may include a step of acquiring a vertical distance between the UAV and the ground, obtaining an inclination distance between the UAV and the ground, obtaining a narrow angle between the vertical distance and the slope distance, And program code for performing a step of controlling the state in which the UAV is flying to the terrain simulation based on the vertical distance and the slope distance may be stored.

An embodiment of the present application further provides a processor. In the present embodiment, the processor obtains the vertical distance between the UAV and the ground corresponding to the UAV method provided in the embodiment, acquires the UAV between the UAV and the ground, Acquiring a narrow angle between the distances, and adjusting the state in which the UAV is flying to the terrain simulation based on the narrow angle, the vertical distance and the slope distance.

While the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.

Those skilled in the art will appreciate that embodiments of the invention may be implemented as a method, apparatus, or computer program product. Thus, embodiments of the present invention may be implemented in a full hardware embodiment, a complete software embodiment, or an embodiment form combining software and hardware. Embodiments of the invention may also be practiced in the form of computer program products embodied in a computer usable storage medium (including but not limited to disk memory, CD-ROM, optical memory, etc.) including one or more computer usable program code .

Embodiments of the present invention have been described with reference to flowcharts and / or block diagrams illustrating a method, a terminal machine (system) and a computer program product according to embodiments of the present invention. By way of computer program instructions, it is possible to realize flowcharts and / or combinations of processes and / or blocks and / or blocks in flowcharts and / or blocks in the course of a block. Such computer program instructions may be provided to a processor of a general purpose computer, a dedicated computer, an embedded processing unit, or other programmable data processing apparatus to constitute a machine, and may be embodied in a computer-readable storage medium, A process or a plurality of processes and / or blocks can be configured to implement a function assigned to one or more blocks.

Such computer program instructions may be stored in a computer readable memory capable of operating a computer or other programmable data processing apparatus in a specified manner and may be used to produce an article of manufacture containing an instructional apparatus with instructions stored in the computer readable memory, The instruction device can realize the functions assigned to one block or several blocks in one process or several processes and / or blows in the flowchart.

Such computer program instructions may be installed in a computer or other programmable data processing apparatus to perform a series of processing steps on a computer or other programmable terminal device to implement the processing that the computer performs, A step of realizing a function specified in one block or several blocks in a process or a plurality of processes and / or blocks in a flowchart through an executed command can be obtained.

Having described preferred embodiments of the present invention, those skilled in the art will be able to ascertain the basic concepts of creativity and then make changes and modifications to these embodiments. Accordingly, the appended claims should be construed to include all changes and modifications that fall within the scope of the preferred embodiments and the embodiments of the invention.

Finally, in the present application, the terms first and second are intended to distinguish one entity or task from another entity or task, and that a real relationship or order between such entities or operations is required or exists no. And the terms "comprising," " comprising, "and any variation of such terms are intended to cover a non-limiting inclusion, such that a process, method, article or terminal comprising a set of elements includes, But does not include other elements, or includes elements unique to such process, method, article, or terminal. In the case of an element limited to "including" in a non-limiting case, it does not exclude the presence of other such elements in a process, method, article, or terminal comprising the element.

Hereinafter, the UAV-based simulated flight method, the UAV-based simulated flight device, and the UAV provided in the present invention have been described in detail. The principles and embodiments of the present invention have been described in detail with reference to the accompanying drawings. And to help them understand their core ideas. At the same time, there may be a change in the concrete embodiment and the application range based on the idea of the present invention, and the above-mentioned contents should not be understood as the limitation of the present invention as described above.

Industry Availability

According to the technical idea provided by the embodiment of the present invention, the technology provided by the embodiment of the present invention can be applied to the process of flying the UAV into the terrain simulation, and based on the difference of the tilt distances from the ground, It is possible to realize a terrain simulated flight in various environments such as mountains, hills, terraced rice fields, plains, and high-stemmed plants by controlling other flight operations, thereby improving the working efficiency of the UAV and the adaptability to the UAV, Can improve the belief and safety of. The embodiment of the present invention can be applied to a UAV, such as a plant protection UAV, which must maintain a certain height from the ground and adapt to various environments and complete the work.

Claims (15)

Obtaining a vertical distance between the UAV and the ground,
Obtaining an inclination distance between the UAV and the ground,
Obtaining a narrow angle between the vertical distance and the slope distance;
And adjusting a state in which the UAV is flying in the terrain simulation based on the narrow angle, the vertical distance, and the slope distance. The method according to claim 1,
Adjusting the state in which the UAV is flying to the terrain simulation based on the narrow angle, the vertical distance and the slope distance,
Calculating one or more judgment data by using the narrow angle and the vertical distance,
Configuring one or more decision data ranges with the one or more decision data;
And adjusting a state in which the UAV is flying to the terrain simulation based on a determination data range to which the slope distance belongs. The method of claim 2,
Wherein the determination data range includes a first determination data range and the step of controlling the state in which the UAV is flying to the terrain simulation based on the determination data range to which the inclination distance belongs,
Maintaining the speed at which the UAV is flying into the terrain simulation if the tilt distance falls within the first determination data range and adjusting the elevation of the UAV to the terrain simulation according to the vertical distance. The method of claim 3,
Wherein the determination data range includes a second determination data range and the step of adjusting the state in which the UAV is flying to the terrain simulation based on the determination data range to which the tilt distance belongs,
Lowering the speed at which the UAV is flying to the terrain simulation and raising the height at which the UAV is flying to the terrain simulation if the tilting distance within the first designated time is continuously within the second determination data range,
When the inclination distance within the second designation time shorter than the first designation time falls within the second determination data range after belonging to the second determination data range and is switched to belong to the first determination data range, And adjusting the elevation of the UAV to the terrain simulation according to the vertical distance. The method of claim 4,
Wherein the determination data range includes a third determination data range and the step of adjusting the state in which the UAV is flying to the terrain simulation based on the determination data range to which the tilt distance belongs,
Stopping the UAV when the inclination distance falls within the third determination data range and raising the height of the UAV during the terrain simulation;
When the inclination distance is switched from belonging to the third judgment data range to belonging to the second judgment data range, the UAV is restored to the speed of flying to the terrain simulation, and the height of the UAV traveling to the terrain simulation Lt; / RTI > The method of claim 3,
Wherein the determination data range includes a fourth determination data range and the step of adjusting the state in which the UAV is flying to the terrain simulation based on the determination data range to which the tilt distance belongs,
Lowering the speed at which the UAV is flying with the terrain simulation and lowering the height at which the UAV is flying with the terrain simulation if the tilting distance within the third designated time continues to fall within the fourth determination data range;
If the inclination distance in the fourth designation time shorter than the third designation time is within the fourth determination data range after belonging to the fourth determination data range and is switched to belong to the first determination data range, And adjusting the elevation of the UAV to the terrain simulation according to the vertical distance. The method of claim 2,
Wherein the determination data range includes a fifth determination data range and the step of controlling the state in which the UAV is flying to the terrain simulation based on the determination data range to which the inclination distance belongs,
Stopping the unmanned aerial vehicle in the air or returning by controlling the unmanned aerial vehicle if the inclination distance falls within the fifth judgment data range. A vertical distance obtaining means configured to obtain a vertical distance between the UAV and the ground,
An inclination distance acquiring means configured to acquire an inclination distance between the UAV and the ground;
Narrow angle acquisition means configured to acquire a narrow angle between the vertical distance and the tilt distance;
And a flight condition adjusting means configured to adjust a state in which the UAV is flying in a terrain simulation based on the narrow angle, the vertical distance and the slope distance. The method of claim 8,
Wherein said flight condition adjusting means comprises:
A judgment data calculation sub-unit configured to calculate one or a plurality of judgment data by using the narrow angle and the vertical distance,
Determination data range configuration sub-means configured to configure one or a plurality of determination data ranges with the one or more determination data;
And flight state control sub-means configured to adjust the state in which the UAV is flying to the terrain simulation based on a judgment data range to which the slope distance belongs. The method of claim 8,
Wherein the determination data range includes a first determination data range, and the flight state control sub-
A first flight condition adjusting unit configured to maintain the speed at which the UAV is flying with the terrain simulation if the tilt distance falls within the first determination data range and to control the height at which the UAV will fly into the terrain simulation according to the vertical distance; Comprising a device. The method of claim 10,
Wherein the determination data range includes a second determination data range, and the flight state control sub-
A second flight condition adjusting unit configured to lower the speed at which the UAV is allowed to fly to the terrain simulation and increase the height of the UAV when the terrain distance is within the second determination data range within the first designated time, ,
When the inclination distance within the second designation time shorter than the first designation time falls within the second determination data range after belonging to the second determination data range and is switched to belong to the first determination data range, And maintains a height at which the UAV is flying in the terrain simulation. The method of claim 11,
Wherein the determination data range includes a third determination data range,
A fourth flight condition adjusting unit configured to stop the UAV when the inclination distance falls within a third determination data range and increase the height of the UAV during the terrain simulation;
When the inclination distance is switched from belonging to the third judgment data range to belonging to the second judgment data range, the UAV is restored to the speed of flying to the terrain simulation, and the height of the UAV traveling to the terrain simulation And a fifth flight condition adjusting unit configured to control the second flight condition adjusting unit. The method of claim 11,
Wherein the determination data range includes a fourth determination data range, and the flight state control sub-
A sixth flight state control unit configured to lower the speed at which the UAV is flying to the terrain simulation and to lower the height of the UAV during the terrain simulation if the tilting distance in the third designated time is continuously within the fourth determination data range; ,
If the inclination distance in the fourth designation time shorter than the third designation time is within the fourth determination data range after belonging to the fourth determination data range and is switched to belong to the first determination data range, And the seventh flight condition adjusting unit is configured to adjust the height of the UAV to fly into the terrain simulation according to the vertical distance. The method of claim 9,
Wherein the judgment data range includes a fifth judgment data range,
And an eighth flight status control unit configured to stop the UAV if it is within the fifth determination data range or return to the UAV by controlling the UAV. At least one vertically-descending vertical distance sensor configured to measure a vertical distance between the UAV and the ground,
At least one inclined lowering slope distance sensor configured to measure an inclination distance between the UAV and the ground,
A UAV comprising the UAV simulated flight device as claimed in any one of claims 8 to 14.

Images